EP0363177B1

EP0363177B1 - Sheet feeding method and apparatus

Info

Publication number: EP0363177B1
Application number: EP89310152A
Authority: EP
Inventors: Richard James Goodridge
Original assignee: Cegelec Controls Ltd
Current assignee: GE Power Resources Management Ltd
Priority date: 1988-10-04
Filing date: 1989-10-04
Publication date: 1993-06-16
Anticipated expiration: 2009-10-04
Also published as: DE68907167T2; US5131339A; DE68907167D1; GB8823215D0; GB8922351D0; GB2225652B; GB2225652A; EP0363177A1

Description

This invention relates to the feeding of flexible sheets, and particularly to the feeding of pieces of fabric, such as lace, to a sewing position.
Garments, such as underclothes, have previously been manufactured by passing suitably-shaped pieces of fabric ("cut parts") to a machinist, who then overlays and/or folds them as required, and passes them manually through a sewing machine. The machinist forms seams, binds the edges of the cut parts and adds lace and elasticated waistbands, where necessary. The accuracy of the positioning of the seams and location of the lace, etc relies on the machinist's skill.
Systems have been proposed for automating at least a part of the manufacturing process by using a robot to move a cut part to a work station, such as a sewing machine. The movement of the cut part is effected by a "gripper" which is mounted on the output shaft of the robot, and which makes contact with the upper surface of the cut part.
The movement of the cut part may be monitored by an electronic vision system, which controls the robot accordingly.
A machinist sewing scalloped lace on to a garment will guide the lace and the underlying fabric through the sewing machine, monitoring their positions by eye, so that the needle stays at a reasonably constant distance from the edge of the lace. The sewing direction must always be parallel to the tangent to the curved edge at each point.
If that procedure were to be attempted using an electronic vision system, a very complicated system would be required because the system must continuously determine what orientation of the lace and the fabric is needed, at every instant, to maintain the sewing line parallel to the edge. Furthermore, very little space is available around the sewing foot of the sewing machine for accommodating vision system components (i.e. light sources and photodiodes). Also, the operation of determining where the edge of the lace lies is very difficult for an electronic vision system to effect, bearing in mind that the lace will be lying on top of a cut part of a material which will very probably be the same colour as the lace.
One possible method of sewing on such lace automatically would be to store data defining required movements of the lace and the fabric based on the assumption that scalloped lace has an absolutely regular, cyclically-varying outline. Unfortunately, that is far from the case. Lace is dimensionally very unstable, and a sewing method which relies on absolutely cyclical movements could very rapidly get completely out of phase with the actual shape of the lace. The stitching would then veer between being too far across the lace and being completely off its edge.
GB-A-2 106 272 discloses a programming device for an automatic sewing machine, in which sewing instructions corresponding to a required curved stitch line are stored. A succession of stitches are formed along a plurality of circular arcs, without taking account of the actual outline of the fabric.
It is a object of the present invention to provide an improved method and apparatus for automatically guiding pieces of fabric having undulating edges through a sewing position so that the stitching closely follows the undulating edge.
According to one aspect of the invention there is provided a method of automatically guiding through a sewing position a piece of fabric which has an undulating edge, the method comprising electronically viewing said undulating edge; determining from the results of the viewing the position of a notional datum line relative to the undulations; determining respective displacements of points of the edge of the piece of fabric from the datum line at intervals along the undulations; determining therefrom displacement and orientation values required for subsequently guiding that piece of fabric through the sewing position to produce a row of stitches at a substantially constant distance inside said edge; and guiding the piece of fabric through the sewing position in accordance with said values.
According to another aspect of the invention there is provided apparatus for automatically guiding through a sewing position a piece of fabric which has an undulating edge, the apparatus comprising an electronic vision system for viewing the undulating edge; means responsive to the viewing of the edge to determine the position of a notional datum line for the edge, to determine respective displacements of points of the edge from the datum line at intervals along the undulations, and to determine therefrom displacement and orientation values required for subsequently guiding that piece of fabric through the sewing position to produce a row of stitches at a substantially constant distance inside said edge; and means to guide the piece of fabric through the sewing position in accordance with said values.
It is intended that "undulations" shall be taken to include displacements of the edge from a straight line whether cyclically or randomly occuring, and that "undulating" shall be interpreted accordingly.
An embodiment of the invention will now be described, by way of example, with reference to the accompanying drawing, in which

Figures 1 and 2 are schematic plan and side views, respectively, of part of a garment manufacturing system incorporating automatic guidance apparatus in accordance with the invention, and
Figure 3 is a schematic diagram illustrating a section of an undulating edge of a piece of lace.

Referring to Figure 1, a garment manufacturing system includes a smooth flat work table 1, over which cut parts are to be moved between work stations, such as a manipulator 2 and a sewing machine 3, by a robot 4. The robot is of the gantry type, i.e. it is suspended over the table 1 from rails 5, 6 along which it moves in x and y directions. An output shaft 7 of the robot can move upwards and downwards (z motion) and can rotate about its vertical axis (ϑ motion).
When a piece of lace is to be sewn on to a garment, a ply separator and feeder 9 picks the top piece of lace off a pile 8 and feeds it on to the table. A piece of lace 10 is shown on the table after it has been placed there by the device 9.
The undulations of the edge of the piece of lace on the table 1 are viewed by a video camera 11, which may be mounted above the table or may be built into the surface of the table. In Figures 1 and 2 the camera is shown in the latter position for clarity of the figures. The camera may comprise an array of pixels (e.g. 512 x 512) or may be a line scan camera, in which case relative movement between the camera and the lace part is necessary so that the whole of the undulating area is scanned. A line scan camera arrangement is capable of giving better resolution that a matrix camera, and takes up less space, but means for producing the relative movement must be provided. The output of the camera is fed to an image processing system 12.
A gripper 13 is mounted on the bottom of the robot shaft for moving the piece of lace to a manipulator which lays the piece of lace on the base fabric. A further robot moves the two pieces together to the sewing machine. 3. The gripper is a flat plate of suitable shape, which bears down on the lace so that the lace can be slid over the table with a speed, orientation and direction of movement which are continuously determined by a robot controller 14 which controls the movents of the robot 4.
Referring to Figure 3, the image processing system 12 derives a notional datum line D, which is a line passing through the mathematical minima of the lace edge profile. From the number of pixels operated in each matrix line or camera scan line, the system can determine the actual y value for the seam line for each x increment along the datum line. However, as the sewing machine is going to sew along the curve, the y values are recalculated for each increments s along the seam line curve, rather than using the values taken along the x axis. The seam line curve will be just inside the edge of the lace, by a constant predetermined distance. The increments can then be related to equal stitch counts.
The required orientation of the lace as it passes the sewing needle and foot (which have a fixed orientation) can then be calculated by the system from the successive x and y values at constant s intervals.
The system is programmed off-line to sew along the datum line D, but the robot controller 14 follows the x and y values and the required orientation ϑ for the particular piece of lace which has just been viewed. It causes the robot 4 to bring the gripper 13 into contact with that piece of lace, without appreciably changing the shape of the piece, and to feed the piece through the sewing machine in accordance with those calculated x, y and ϑ values.
It is preferable for the sewing machine speed to remain constant, which requires that the robot shall feed the lace through the sewing machine at a speed which varies to account for the undulating profile of the lace.
A typical procedure for operating the system would be as follows.

1. Adjust the data to correct for slight misalignment of the lace with the camera reference frame.
2. Filter the data to remove noise due to minor details of the lace.
3. Calculate the robot offsets needed to place the gripper correctly on the cut part.
4. Calculate the set of ordinates which measure the distance of the edge to be sewn from the line D passing through the minima of the profile.
5. Calculate a set of parameters which describe the seam profile as a set of x and y values at constant intervals of seam length s.

During the sewing of the lace, the following sequence of robot control is preferably carried out, the data being updated at, for example, 20m sec intervals.

1. The length 1 of seam already sewn is calculated by integrating the pulses received from a sewing machine encoder multiplied by the effective stitch length.
2. Using the table of Δx and y at constant intervals of seam length transmitted from the vision processing system, the values of x₁ and y₁ corresponding to seam length 1 are calculated by linear interpolation.
3. x₁ is the distance along the datum line D programmed by the offline system and, hence, this program can be used to obtain the values of robot axis positions x_r, y_r and ϑ_r which would be needed to place the needle at x₁ along the line D. In fact, since D would be straight and parallel to the direction of sewing and the x axis of the robot, y_r and ϑ_r will be constant for the nominal seam along the line D.
4. The angle of the seam at the current position relative to the line D is calculated from the values of y₁ adjacent to the current position and the value Δx₁ separating them.
5. In order to place the needle on the actual seam line it is necessary to offset the y axis position corresponding to D by y₁.
In addition it is necessary to rotate the work piece about the needle by ϑ₁ to align the required seam line with the stitching direction of the machine.
Therefore the required robot axis positions are:-

$x_{r} {= x}_{n} + R sin (α + ϑ₁)$

$y_{r} {= y}_{n} + R cos (α +ϑ₁)$

$R = √ \bar{{(x}_{A} {+ x₁ - x}_{n} {)² + (y}_{A} {+ y₁ - y}_{n})²}$

x_A, y_A are the co-ordinates of the start of the seam defined by the offline system.
x_n,y_n are the co-ordinates of the needle.
It will be apparent that whereas the above description relates to the sewing of scalloped lace, the invention would be equally applicable to the sewing of any other piece of fabric having an undulating edge.

Claims

A method of automatically guiding through a sewing position (3) a piece of fabric (10) which has an undulating edge, characterised by electronically viewing said undulating edge; determining from the results of the viewing the position of a notional datum line (D) relative to the undulations; determining respective displacements (x,y) of points of the edge of the piece of fabric from the datum line at intervals (S) along the undulations; determining therefrom displacement and orientation values (x_r,y_r,ϑ_r) required for subsequently guiding that piece of fabric through the sewing position to produce a row of stitches at a substantially constant distance inside said edge; and guiding the piece of fabric through the sewing position in accordance with said values.
A method as claimed in Claim 1, characterised in that the distance moved by the piece of fabric (10) being guided past the sewing position (3) is determined by counting electrical pulses related to the number of stitches effected since the beginning of the guiding.
A method as claimed in Claim 1 or Claim 2, characterised in that the guiding of the piece of fabric (10) is effected by gripper means (13) which makes contact with the piece of fabric; and wherein the gripper means is moved by robot means (4) in accordance with said values.
Apparatus for automatically guiding through a sewing position (3) a piece of fabric (10) which has an undulating edge, characterised by an electronic vision system (11) for viewing the undulating edge; means (12) responsive to the viewing of the edge to determine the position of a notional datum line (D) for the edge, to determine respective displacements (x,y) of points of the edge from the datum line at intervals (S) along the undulations, and to determine therefrom displacement and orientation values (x_r,y_r,ϑ_r) required for subsequently guiding that piece of fabric through the sewing position to produce a row of stitches at a substantially constant distance inside said edge; and means (4,13) to guide the piece of fabric through the sewing position in accordance with said values.
Apparatus as claimed in Claim 4, characterised in that the electronic vision system includes a camera (11) comprising a matrix of sensing elements.
Apparatus as claimed in Claim 4, characterised in that the electronic vision system includes a line scan camera (11); and wherein there is provided means to cause relative movement between the line scan camera and the piece of fabric (10), whereby the whole of the undulating edge is viewed.
Apparatus as claimed in any one of Claims 4-6, characterised by gripper means (13) for engaging the piece of fabric; and robot means (4) for moving the gripper means in accordance with said values.